The main purpose of this paper was to compare the pyrolysis kinetics of three types of energy crops: Miscanthus giganteus, Sida hermaphrodita, and Sorghum Moench. Studies were conducted in thermobalance. Feedstock samples were heated up from ambient temperature to 600 °C under an inert argon atmosphere. Three heating rates of β = 5, 10, and 20 °C/min were applied. Reactions occurring in the given temperature ranges were grouped together into so-called lumps identified by the deconvolution of derivative thermogravimetry (DTG) curves that corresponded to biomass compositions (hemicellulose, cellulose, and lignin). For the estimation of the activation energy and pre-exponential factor, the Friedman and Ozawa–Flynn–Wall methods were used. The final kinetic parameters were determined by nonlinear regression assuming that thermal decomposition proceeded via three parallel independent reactions of the nth order. The activation energy of hemicellulose, cellulose and lignin was determined to be in the range of 92.9–97.7, 190.1–192.5, and 170–175.2 kJ/mol, respectively. The reaction order was in the range of 3.35–3.99 for hemicellulose, 1.38–1.93 for cellulose, and 3.97–3.99 for lignin. The obtained results allow us to estimate the pyrolytic potential of energy crops selected for this study, and can be used in designing efficient pyrolizers for these materials.